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EP2630073A1 - Système de gestion d'énergie - Google Patents

Système de gestion d'énergie

Info

Publication number
EP2630073A1
EP2630073A1 EP10858522.5A EP10858522A EP2630073A1 EP 2630073 A1 EP2630073 A1 EP 2630073A1 EP 10858522 A EP10858522 A EP 10858522A EP 2630073 A1 EP2630073 A1 EP 2630073A1
Authority
EP
European Patent Office
Prior art keywords
energy
movement
battery
storage device
energy storage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP10858522.5A
Other languages
German (de)
English (en)
Other versions
EP2630073B1 (fr
EP2630073A4 (fr
Inventor
Martin Foley
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TLD Canada Inc
Original Assignee
TLD Canada Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by TLD Canada Inc filed Critical TLD Canada Inc
Publication of EP2630073A1 publication Critical patent/EP2630073A1/fr
Publication of EP2630073A4 publication Critical patent/EP2630073A4/fr
Application granted granted Critical
Publication of EP2630073B1 publication Critical patent/EP2630073B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/0625—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement with wheels for moving around the floor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
    • B64F1/322—Cargo loaders specially adapted for loading air freight containers or palletized cargo into or out of the aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/0633—Mechanical arrangements not covered by the following subgroups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/065—Scissor linkages, i.e. X-configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J15/00—Systems for storing electric energy
    • H02J15/003—Systems for storing electric energy in the form of hydraulic energy
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
    • H02J7/345—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering using capacitors as storage or buffering devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids

Definitions

  • JIKAWA discloses a lift apparatus having a hydraulic system, which is also adapted to convert potential energy into electric energy, during the lowering of a platform, in order to recharge the battery.
  • An accumulator such as a capacitor may be used instead of or in conjunction with the battery.
  • US patent application No 2009/0212626 teaches an energy management system for hybrid vehicles which are subjected to high variations of energy (during acceleration, climbing a slope, etc.).
  • the document is particularly directed to hybrid vehicles having a regenerative braking system.
  • a fast energy storage is used in order to compensate for rapid high demands in energy.
  • a transient current to be drawn from the suppercapacitor is calculated based on the difference between an estimated current to be drawn from the battery and the current requested by the load.
  • the transient current is provided by the supercapacitor via a DC/DC converter (direct current to direct current converter).
  • the super- capacitor is recharged when the current requested from the battery is below a certain level or during regenerative braking, in order to prepare the super-capacitor for the next transient period.
  • Some important principles in the area of battery operated devices include the concepts of the Peukert law, power loss in cables, and rapid discharging and recharging of a battery.
  • I is a measured discharge current
  • n is an exponent related to the battery construction and age
  • C is a battery capacity
  • a regeration system using only a battery as an energy source is undesirable for a platform lift mechanism in a cargo loader.
  • the battery is discharged for raising the platform and recharged for lowering the platform, and in cases where the platform is lowered and very quickly raised again, the battery only has a short period of time to recharge. Since the necessary chemical reaction for recharging the battery may not have time to complete, the battery tends to behave as a mini-battery, which amplifies the Peukert effect as the battery capacity is perceived as being much smaller. Furthermore, when charging and discharging, the battery generates heat, which represents a loss of energy. Morevover, the increase in temperature of the battery, caused by the recharging also reduces battery life.
  • an energy management system for managing a current flow in a machine having a lift element being vertically movable by a motor assembly, the energy management system comprising:
  • an energy-storage-device controller connected between the energy storage device and the power supplying bus, for controlling a current flow between the energy storage device and the power supplying bus;
  • a first calculator connected to the sensors for calculating a minimum energy E min required in the energy storage device as a function of the height H of the lift element; - a second calculator connected to the energy storage device for calculating an energy Eavaiiabie stored in the energy storage device based on a voltage V cap detected at the terminals of the energy storage device and on a parameter of the energy storage device;
  • a third calculator for setting a lower limit l min of a current to be drawn from the energy storage device to OA when the movement detected by the sensors is the immobile or lowering movement, and for calculating the lower limit l min as a function of Error when the movement detected by the sensors is the lifting movement;
  • a fourth calculator for calculating an upper limit l max of a current to be supplied to the energy storage device as a function of Error when the movement detected by the sensors is the immobile or lowering movement;
  • the supporting structure comprises a platform supported by a scissor or a grasshopper assembly;
  • the actuating means comprises fluid-driven actuators operatively mounted to the scissor or the grasshopper assembly, and are provided with controllable valves;
  • the actuating means further comprises electric motor pump assemblies, each coupled to the fluid-driven actuators via the controllable valves, for moving the supporting structure between the lowered and the raised positions;
  • a main controller is connected to the controllable valves and to the electric motor pump assemblies, for controlling operation of the controllable valves and of the electric motor pump assemblies;
  • the battery is further connected to the main controller and a current converter;
  • the converting means comprises control means, which can be a PLC, and a supercapacitor assembly.
  • the energy regeneration system uses energy accumulated within the actuators to recharge the battery and the supercapacitor assembly (i.e. energy storage device) during the lowering of the platform, through the use of the motor pump assemblies. Once the supercapacitor assembly (i.e. energy storage device) is recharged, the excess of energy generated by the lowering of the platform is directed to the battery.
  • the supercapacitor assembly i.e. energy storage device
  • the main controller controls the hydraulic logic block to route the fluid from an electric motor pump assembly to the wheel motors, which use the fluid energy to rotate the driving wheels. If the energy stored in the supercapacitor assembly (i.e. energy storage device) is insufficient, the control means directs electrical energy from the battery to the electrical motor pump, which will pump fluid back to the wheel motor via the hydraulic logic block.
  • the supercapacitor assembly i.e. energy storage device
  • the fluid-driven actuators are hydraulic cylinders
  • the controllable valves are ON/OFF solenoid valves
  • the current converters are DC/DC converters.
  • the electric motor pump assemblies consist of an AC motor connected to a gear pump, and the supercapacitor assembly comprises more than one supercapacitor.
  • the supporting assembly comprises a frame at ground level.
  • a spring is connected to the frame, the spring being able to accumulate energy when the platform is lowered and transfer it back to the platform when the platform is lifted, thereby reducing the energy required to push fluid into the actuator.
  • FIG. 1 is a schematic diagram of an aircraft loader.
  • FIG. 2 is a block diagram showing elements of an energy management system according to an embodiment of the present invention.
  • FIG. 3A is a schematic block diagram showing elements of an energy management system according to an embodiment of the present invention, at a given moment.
  • FIG. 3B is a schematic block diagram showing elements of an energy management system according to the embodiment shown in FIG. 3A, at another given moment.
  • FIG. 3C is a schematic block diagram showing elements of an energy management system according to the embodiment shown in FIG. 3A, at another given moment.
  • FIG. 3D is a schematic block diagram showing elements of an energy management system according to the embodiment shown in FIG. 3A, at another given moment.
  • FIG. 3E is a schematic block diagram showing elements of an energy management system according to the embodiment shown in FIG. 3A, at another given moment.
  • FIG. 3F is a schematic block diagram showing elements of an energy management system according to the embodiment shown in FIG. 3A, at another given moment.
  • FIG. 3G is a schematic block diagram showing elements of an energy management system according to the embodiment shown in FIG. 3A, at another given moment.
  • FIG. 4 is a block diagram showing four closed-loop control systems, according to an embodiment of the present invention.
  • FIG. 5 is a block diagram showing one of the closed-loop control systems shown in FIG. 4, according to an embodiment of the present invention.
  • FIG. 6 is a graph showing a sequence of operations of the system along a timeline.
  • FIG. 7A is a schematic block diagram showing elements and operations of an energy management system according to an embodiment of the present invention, at a given moment.
  • FIG. 7B is another schematic block diagram showing elements of an energy management system according to the embodiment shown in FIG. 7A, at another given moment.
  • FIG. 7C is another schematic block diagram showing elements of an energy management system according to the embodiment shown in FIG. 7A, at another given moment.
  • FIG. 7D is a schematic block diagram showing elements of an energy management system according to another embodiment of the present invention, at a given moment.
  • FIG. 7E is another schematic block diagram showing elements of an energy management system according to the embodiment shown in FIG. 7D, at another given moment.
  • an energy management method for managing a current flow in a machine, such as a cargo loader 10, having a lift element 12 being vertically operable by a motor assembly 38, the motor assembly 38 being supplied with energy, through a power supplying bus 110, by a battery source 42 and by an energy storage device via an energy-storage-device controller, as will be further described below.
  • the energy storage device is preferably one or more supercapacitor 40 (also referred to herein as "supercapacitor source” or “supercapacitors”).
  • the energy-storage-device controller is preferably a DC/DC converter 56.
  • the method includes:
  • (g) controlling 222 the DC/DC converter as a function of l min , Lax and the movement detected at (a) to manage the current flow between the supercapacitor source 40 and the power supplying bus 110.
  • the above-mentioned method is performed by an energy management system including: - a power supplying bus 110 for supplying the motor assembly 38; a battery source 42 being connected to the power supplying bus 110;
  • - sensors for detecting a height H and a movement of the lift element 12, said movement being selected from the group consisting of a lifting movement , a lowering movement and an immobile movement;
  • a third calculator for setting a lower limit l min of a current drawn from the supercapacitor source 40 to OA when the movement detected by the sensors is the immobile or lowering movement, and for calculating the lower limit l min as a function of
  • a fourth calculator for calculating an upper limit l max of a current to be supplied to the supercapacitor source 40 as a function of Error when the movement detected by the sensors is the immobile or lowering movement;
  • controller 46 for controlling the DC/DC converter 56 as a function of l min, l maX) and the movement detected, to adjust the current flow between the supercapacitor source 40 and the power supplying bus 110.
  • battery source it is meant one or more battery or similar energy source for producing electricity.
  • Such a controller may include a converting means, such as a DC/DC converter.
  • a DC/DC converter may be used, depending on the loader model.
  • the energy-storage-device controller may be made integral with the energy storage device, according to embodiments of the present invention, as can be understood by a person skilled in the art.
  • first, second, third and fourth calculators, as well as the comparator may be provided in a unitary component. Indeed and for example, they may all be integrated with the main controller in a PLC.
  • the power supplying bus may be any suitable power distributing channel.
  • the bus is preferably shared by the battery source, the energy-storage-device controller and the electric motor-pump assembly, and is preferably a 80V DC bus.
  • any similar or equivalent component and/or assembly or grouping thereof is meant to be encompassed by the term "power supplying bus”.
  • fluid 26 exiting the cylinder 19 passes through the opened solenoid valve 32 and is directed to a hydraulic logic block 34.
  • the cylinder 19, the controllable valve 32 and the hydraulic logic block 34 are all linked with tubing 36, into which the fluid 26 may circulate.
  • a hydraulic logic block 34 may include several solenoid valves and a manifold, and is use to direct or route the fluid to and from different hydraulic cylinders, motor-pump assemblies or hydraulic tank, etc.
  • the electric motor pump assembly 38 includes a gear pump 39 and an AC motor 41 , having an actuating shaft and a rotor.
  • the electric motor pump assembly may also include several gear pumps and AC motors.
  • the resistance of copper for a cable of size 2/0 is approximately 0.261 mOhm/m. Moreover, the resistance of a MOSFET in the present motor controller is 5 mOhm.
  • the system also preferably seeks to manage the energy flow between the battery, motors and supercapacitors so that the battery power demand is constant over time, and to store the regenerated energy into supercapacitors in order to avoid recharging the battery during operation, as well as to maintain the supercapacitors energy level as high as possible.
  • closed-loop controllers 300, 400, 500 and 200 As also mentioned previously, the system is operated by closed-loop controllers 300, 400, 500 and 200, as better illustrated in FIG. 4.
  • the algorithms performed by each of these loops, according to preferred embodiments will now be described, starting with the main closed-loop controller 200.
  • the battery current target is set to 50A. Indeed, in the "precharge mode” it is an objective to preload the supercapacitors 40 up to 30V when the loader system has just been turned on.
  • the supercapacitors 40 and DC/DC converter 56 are more efficient at higher voltages, therefore a minimal supercapacitor voltage is preferable.
  • the battery current target is 150A. Indeed, in the “recharge mode” it is an objective to fill up the supercapacitors 40 when the loader platform 12 is not moving. 150A is the battery current target, to recharge the supercapacitors 40, according to this particular embodiment.
  • the target battery current is -150A. Indeed, in the “ discharge mode " it is an objective to empty the supercapacitors 40 when the loader 10 is turned OFF (shutdown state). -150A is the battery current target since it is the maximum capacity of the DC/DC converter 56 to discharge the supercapacitors 40, according to this particular embodiment.
  • a power state of the machine namely cargo loader 10
  • said power state being selected from the group consisting of a powered state and a shutdown state
  • Emin may be provided in Joule units (J);
  • n is a constant having a value based on a parameter of the energy-storage- device controller, and a voltage of the battery;
  • Ecap 4 ov is the energy available in the supercapacitors 40 at 40V and is set to
  • Htotai is set to 3,000 mm.
  • the above-mentioned parameter is a Capacity of the supercapacitors 40, which is provided in Farads and set to to 100F.
  • the error Error corresponds to an amount of energy that may be used to feed the AC motor pump assembly 38 in the upward mode of operation, (i.e. when the movement detected is the lifting movement), or how much additional energy may be stored into the supercapacitors when the movement detected is a lowering movement of the platform.
  • Yet another step 206 of the method includes, as also previously mentioned, setting a lower limit l min of a current to be drawn from the energy storage device to OA when the movement previously detected is the immobile or lowering movement.
  • the lower limit l min is set to OA, if the mode of operation previously determined is "recharge mode", “precharge mode” or “downward mode”, and this, in order to ensure that the supercapacitors 40 are not discharged in those modes, namely for maintaining this energy available for a platform lifting movement.
  • the current of the DC- DC converter is limited to 150A. The current is therefore limited on the battery side because the voltage is always higher than on the supercapacitor side, given that the power on both sides is approximately the same. The current on the battery side of the
  • DC/DC converter is limited to 150A x V ⁇ p / V bat .
  • the lower limit l min is calculated as a function of Error when the movement detected is the lifting movement, more particularly, according to: if Error ⁇ 0 and Error > -2 then
  • the method further includes detecting a voltage V ba t at terminals of the battery source.
  • another step includes detecting a power state of the machine, said power state being selected from the group consisting of a powered state and a shutdown state; and setting the lower limit l min of said current to be drawn from the energy storage device to -150A when the power state detected is a shutdown state.
  • the lower limit l min is set to -150A if the mode of operation previously determined is "discharge".
  • the minimum current is limited to 0 A to make sure that the supercapacitors are not discharged in those modes to keep this energy for the platform lift up movement.
  • the current on the battery side of the DC/DC converter is limited to 150A x / V bal .
  • Still another step 220 of the method includes, as also previously mentioned, calculating an upper limit l max of a current to be supplied to the energy storage device as a function of Error when the movement is the immobile or lowering movement. More particularly, in the present case, the maximum current l max to be supplied to the supercapacitors 40 by the DC/DC converter 56 is calculated according to the following algorithm:
  • l max is determined based on how much energy is missing, namely how much additional energy may be stored into the supercapacitors 40, such that if the energy stored in the supercapacitors 40 is equal to the energy target level, as defined at number 218, the current will be equal to OA so as to stop recharging the supercapacitors 40.
  • Yet another step 222 of the method includes, as also previously mentioned, controlling the energy-storage-device controller as a function of l min , l max and the movement previously detected, in order to manage the current flow between the energy storage device and the power supplying bus. More particularly, in the present embodiment, if the current drawn from the battery 42 by the DC/DC converter 56 is lesser than the lower limit l min , then the current is set to l min , and if the current drawn from the battery 42 by the DC/DC converter 56 is greater than the upper limit l max , then the current is set to lmax-
  • the PLC adjusts the supercapacitors' 40 energy level so that at any time it is possible to store into the supercapacitors 40 all or most of the potential energy that can be regenerated, namely by taking into account the height H of the platform.
  • the platform when the platform is at ground level, there is no potential energy to regenerate since the platform is at the lowest position.
  • the potential energy that can be regenerated with a platform fully loaded is 133 kJ, based on a system model.
  • the energy capacity of a supercapacitor of 100F at 80V is 280 kJ.
  • the potential energy that may be regenerated with a fully loaded platform is 47 kJ.
  • the energy capacity of a supercapacitor 40 of 100F at 80V is 280 kJ.
  • FIG. 6 there is shown a graph illustrating a sequence wherein the platform is first being lowered, then regenerating energy, then stopping, and finally resuming lowering, during a time period ranging from 0 to 25 seconds (sec). More particularly, the graph represents a scenario, wherein the platform is being lowered between times 0 to 8 sec, approximately (i.e. lowereing movement detected), then the platform remains immobile between times 8 to
  • the curve which is dotted with triangles represents the height of the platform.
  • the curve which is dotted with diamonds represents the maximum energy level (or target energy level) calculated from the height of the platform.
  • the curve which is dotted with squares represents the actual energy level of the supercapacitors (or energy store in the the supercapacitors),, which tries to match the maximum energy level calculated.
  • the difference between the two curves is due to the limitation of the DC/DC converter maximum current and this is why the energy level is only reached at a time of 13 seconds and 25 seconds.
  • the supercapacitors are being recharged.
  • the supercapacitors are also recharged during a portion of the time the platform is immobile, namely between 10 to 14 sec, as well as between 23 to 25 sec. Moreover, at 13 sec. and 25 sec, the supercapacitors stop charging because, as mentioned above, they have reached the target energy level.
  • FIG. 7A to 7E different scenarios of the system in operation are exemplified, shown on simplified schematic representations of the system.
  • FIG. 7A there is shown a first scenario wherein an operator enters a command input to lift or raise the platform.
  • the motor controller 44 requires 400A at this time.
  • the 400A is first fed by the battery 42.
  • This current is limited by the DC/DC converter capacity and the energy available in the supercapacitors 40 at this time.
  • FIG. 7B there is shown a second scenario wherein the operator enters a command input to lower the platform.
  • the motor controller 44 thus regenerates energy and sends current on the 80V bus line, for example, 80A.
  • the 80A naturally tends to go back to the battery 42.
  • the DC/DC converter 56 stores energy into the supercapacitors 40 by taking the energy from the 80V bus line to avoid recharging the battery.
  • FIG. 7C there is shown a third scenario wherein the operator enters a command input to lower the platform, and there is no load on the platform.
  • the motor controller will regenerate energy and send current on the 80V bus line, for example, 30A since the platform carries no load.
  • the PLC will determine what current is transferred by the DC/DC converter 56 and depending on the supercapacitors' 40 level of energy stored, this current may be more than 30A, for example, 100A in order to recharge the supercapacitors 40 at a faster rate.
  • the battery thus supplies energy at this time to recharge the supercapacitors 40, instead of waiting for the platform to be at ground level, in order to prepare to supply power to the system when the operator will lift the platform again.
  • FIG. 7D and 7E there is shown a fourth scenario wherein the operator enters a command input to lift or raise the platform.
  • the motor controller 44 for the lift requires 400A at this time for this particular operation, as better illustrated in FIG. 7D.
  • the PLC 46 controls the DC/DC converter 56 and the supercapacitors 40 to output energy reserve in order to reduce the power load on the battery 42.
  • the operator actuates another function on the loader, for example a cargo transfer, while still lifting the rear platform.
  • the motor controller 43 for the accessories will then require, for example 150A, as illustrated in FIG. 7E.
  • the PLC 46 then reduces the current allocated for the lifting, in order to diminish the total power demand from the battery 42. As a result, the platform is lifted more slowly, i.e. less power is allocated to motor 37 but the battery power required remains the same.
  • the energy storage device or the supercapacitors according to embodiments of the present invention, provide an energy buffer to absorb energy when the platform is being lowered (i.e. going down), while the motor regenerates the platform's potential energy into electricity, and also give back this energy at a later time to reduce the battery power load.
  • the energy-storage-device controller, or the DC-DC converter according to embodiments of the present invention, allows controlling the current flow between the supercapacitors and the 80V DC bus to which the motor controller(s) and battery are connected.
  • the average battery power is low in comparison to known conventional systems because some of the energy is regenerated.
  • the battery power required may be spread over time so to eliminate dead times and peak demands, and thus minimize the overall battery current level at all times.
  • the reduced current attenuates the power loss in cables and components.
  • the battery is mostly discharged and, preferably never, recharged during normal operation of the loader for advantageously optimizing battery life and efficiency.
  • the four above-described independent closed-loop systems namely the platform raising loop 300, the platform lowering loop 400, the accessories motor loop 500 and the DC/DC converter current loop 200 (see FIG. 4), are provided in the system and cooperate in order to determine in real-time the optimal speed of respective motors and the current flow supplied to or drawn from the supercapacitors, via the DC/DC converter.
  • the system is thereby constantly looking to achieve an optimal state to operate.
  • the efficiency of a loader being provided with the above-described system and method is greatly improved.
  • the number of raising and lowering cycles of the platform lift was increased by about 30 to 40% depending on the average weight of the cargo, in comparison to an electric loader without this energy regeneration and management system.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

L'invention porte sur un système de gestion d'énergie pour générer une circulation de courant dans une machine ayant un élément de levage qui peut être déplacé verticalement par un ensemble moteur. Le système de gestion d'énergie comprend un bus d'alimentation en énergie pour alimenter l'ensemble moteur, une source de batterie, un dispositif de stockage d'énergie et un dispositif de commande associé, et un dispositif de commande principal pour commander le dispositif de commande de dispositif de stockage d'énergie, et, ainsi, l'alimentation de l'ensemble moteur, tout en factorisant une hauteur et un déplacement de l'élément de levage. Le système vise globalement à gérer la circulation d'énergie entre la batterie, des moteurs et des supercondensateurs de façon à maintenir le courant de batterie aussi faible que possible par commande de la vitesse du moteur, de façon à maintenir la demande de puissance de la batterie constante au cours du temps, et à stocker l'énergie régénérée dans des supercondensateurs afin d'éviter la recharge de la batterie pendant le fonctionnement, et, également, à maintenir le niveau d'énergie des supercondensateurs aussi élevé que possible.
EP10858522.5A 2010-10-22 2010-10-22 Système de gestion d'énergie Not-in-force EP2630073B1 (fr)

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PCT/CA2010/001692 WO2012051696A1 (fr) 2010-10-22 2010-10-22 Système de gestion d'énergie

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EP2630073A1 true EP2630073A1 (fr) 2013-08-28
EP2630073A4 EP2630073A4 (fr) 2014-08-06
EP2630073B1 EP2630073B1 (fr) 2015-12-16

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US (1) US9422141B2 (fr)
EP (1) EP2630073B1 (fr)
ES (1) ES2564011T3 (fr)
WO (1) WO2012051696A1 (fr)

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Also Published As

Publication number Publication date
US9422141B2 (en) 2016-08-23
EP2630073B1 (fr) 2015-12-16
WO2012051696A1 (fr) 2012-04-26
EP2630073A4 (fr) 2014-08-06
US20130213744A1 (en) 2013-08-22
ES2564011T3 (es) 2016-03-17

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